Pedal with sliding and locking mechanisms for surgical robots

ABSTRACT

A foot pedal system for controlling a surgical robotic system, the foot pedal system comprising a foot pedal assembly movably coupled to a foot pedal assembly platform. The foot pedal assembly having a foot pedal base, a foot pedal pivotally coupled to the foot pedal base, and a foot pedal platform, the foot pedal base operable to slide across the foot pedal platform along an x-axis and a y-axis to an arrangement of activation positions. The foot pedal platform operable to translate and rotate with respect to the foot pedal assembly platform to any position along the foot pedal assembly platform, and the foot pedal platform is operable to engage or disengage with the foot pedal assembly platform at the any position along the foot pedal assembly platform.

FIELD

An embodiment of the invention relates to a pedal with sliding andlocking mechanisms for surgical robotics. More specifically, embodimentsof the invention relate to a multifunctional two-dimensional (2D) sliderfoot pedal assembly, and a selectively locking and repositionable footpedal system. Other embodiments are also contemplated.

BACKGROUND

In a surgical robotic system, a robotic arm has a surgical tool attachedto its distal end that is remotely operated by a surgeon. Applicationsinclude endoscopic surgery, which involves looking into a patient's bodyand performing surgery inside, for example the abdominal cavity, usingendoscopes and other surgical tools that are attached to the ends ofseveral robotic arms. The system gives the surgeon a close-up view ofthe surgery site, and also lets the surgeon operate the tool that isattached to the arm, all in real-time. The tool may be a gripper withjaws, a cutter, a video camera, or an energy emitter such as a laserused for coagulation. The tool is thus controlled in a precise mannerwith high dexterity in accordance with the surgeon manipulating ahandheld controller. Some functions of the system such as control of theenergy emitter may be assigned to a foot pedal controller that thesurgeon manipulates with their foot.

SUMMARY

An embodiment of the invention is directed to a multifunctionaltwo-dimensional (“2D”) slider foot pedal assembly. The 2D slider footpedal assembly may allow a user to activate at least four distinctrobotic operations or functions using a single pedal. Representatively,the foot pedal assembly may include four activation positions that theuser can select by sliding (e.g., translating and rotating) the pedal tothe desired activation position. The activation positions are, in turn,mapped to desired functions that will execute when the user presses thepedal. To control the desired operation or function, the user activatesthe pedal (e.g., presses) once at the activation position. The footpedal assembly therefore allows the user to access and activate multiplerobotic operations or functions with just one foot and a single pedal,in some cases, without actually watching or otherwise viewing theposition of the foot. The foot pedal assembly can minimize the risk ofan unintentional activation of a pedal when moving between pedals, sincethe user controls all operations with a single pedal and withoutremoving their foot from the pedal. Representatively, the foot pedalassembly may include a full-foot pedal coupled to a foot pedal base anda foot pedal platform. In one embodiment, the foot pedal may have afulcrum (or axle) close to the heel of the user's foot, and which can beactivated by the user rocking the foot forward, and in turn,rotating/pivoting the foot pedal relative to the foot pedal base. Insome cases, the foot pedal may have multiple stages of activationdepending on the desired function or operation to be controlled. Inaddition, in some cases, there may be an active feedback mechanism(e.g., vibration, force feedback, etc.) to give the user a hapticresponse, for example when the pedal is activated. Still further, thefoot pedal may have a passive rotation about the heel (e.g., an axisgoing through the heel) to allow the user to comfortably angle theirfoot while maintaining contact with the foot pedal. The foot pedal base,to which the foot pedal is coupled, may be slidably position on the footpedal platform. The foot pedal base may translate and rotate freelyalong a horizontal plane (e.g., planar contact surface) of the footpedal platform between different activation positions. For example, inone embodiment, there may be an arrangement of four or five activationpositions. Representatively, each corner of the foot pedal platform mayhave an activation position, for a total of four activation positionscorresponding to at least four different robotic operations orfunctions. In addition, in some cases, there may be an additionalactivation position at the center of the foot pedal platform, for atotal of five activation positions. This additional center activationposition may correspond to a robotic operation or function when thepedal is pressed. In other cases, the center activation position may notcorrespond to a robotic operation or function, for example, may be a“clutch” position used to transition between operations or functionswhen the pedal is pressed. The foot pedal and/or foot pedal base maytranslate and rotate between the activation positions to control thedesired robotic function. It is noted that in describing the foot pedaland/or foot pedal base (or any other components herein) as operable totranslate “and” rotate between positions, it should be understood thatthis phrase is intended to mean the assembly can perform bothtranslation and rotation operations, but not necessarily at the sametime. Rather, these operations may occur sequentially or at the sametime. For example, the foot pedal base may first translate in aparticular direction, then rotate while moving from one activationposition to another activation position (or while at a position), or maysimultaneously translate and rotate while moving between positions.

The foot pedal assembly may further include a locking mechanism orassembly to secure, or otherwise hold, the foot pedal base (and footpedal) at the desired activation position. For example, the lockingmechanism or assembly may include an arrangement of platform magnets,one near each of the activation positions of the foot pedal platform(e.g., inside corners of the platform), and complimentary base magnetsarranged on the foot pedal base to align with the platform magnets. Forexample, the platform magnets may be attached to inside corners of thesliding surface of the platform, and the base magnets may be attached tooutside corners of the foot pedal base. During operation, the foot pedalbase (and foot pedal) may “snap” to, or otherwise be secured, at thedesired activation position by the magnetic forces between the magnetassemblies.

An embodiment of the invention is further directed to a foot pedalassembly positioning system that allows a user to place two foot pedals(one per foot) in a desired location and orientation and apply forcesthat lock them to a foot pedal assembly platform. The foot pedalassembly may be a rocking type foot pedal assembly as previousdiscussed, or could be any other type of foot pedal assembly (e.g., afloating foot pedal assembly). Regardless of the type of foot pedalassembly, the foot pedal assembly positioning system of this embodimentallows the user to keep their foot on the pedals (eliminating the needto locate pedals when activation is desired) while also enabling theuser to change the foot pedal assembly location and/or orientationthroughout a procedure or task. The system therefore addresses theergonomic need to reposition the feet during a procedure, whichsometimes arises. Representatively, in some cases, the foot pedal systemmay include a foot pedal assembly and a foot pedal assembly platform towhich the assembly is slidably coupled. The foot pedal assembly platformmay be (or otherwise include) a ferromagnetic plate that allows the footpedal assembly to translate and rotate thereon. In addition, there maybe a thin, low-friction coating applied to the foot pedal platform (orfoot pedal assembly) to facilitate low friction sliding when desired.The foot pedal assembly may include one or more electromagnets that canbe turned “on” or “off” to “engage” or “disengage” the assembly with theplatform. For example, the electromagnets may be embedded in the pedalbase of the foot pedal assembly, and activated by either a foot action(e.g., lifting the foot and pressing a button) or a hand action (e.g.,using a wired or wireless connection) of the user. When theelectromagnets are activated (e.g., turned “on”), the foot pedalassembly is engaged or locked to the foot pedal assembly platform at theposition in which the electromagnets are activated. To move (e.g.,reposition) the foot pedal assembly from this engaged or locked positionto another position, the electromagnets are de-activated (e.g., turned“off”). This, in turn, disengages or unlocks the foot pedal assemblyfrom the foot pedal assembly platform, and allows the user to move thefoot pedal assembly to another position. It should be understood thatthe foot pedal assembly may be moved (e.g., translated or rotated) toany number of positions and/or orientations depending on the desire ofthe user, and locked at any of the positions. In other words, thepositions are not discrete, predetermined or otherwise a number ofpreset positions, but rather dynamically determined based on the desireand/or ergonomic needs of the user, and the assembly is lockable at eachposition.

The above summary does not include an exhaustive list of all aspects ofthe present invention. It is contemplated that the invention includesall systems and methods that can be practiced from all suitablecombinations of the various aspects summarized above, as well as thosedisclosed in the Detailed Description below and particularly pointed outin the claims filed with the application. Such combinations haveparticular advantages not specifically recited in the above summary.

BRIEF DESCRIPTION OF THE DRAWINGS

The embodiments of the invention are illustrated by way of example andnot by way of limitation in the figures of the accompanying drawings inwhich like references indicate similar elements. It should be noted thatreferences to “an” or “one” embodiment of the invention in thisdisclosure are not necessarily to the same embodiment, and they mean atleast one. Also, in the interest of conciseness and reducing the totalnumber of figures, a given figure may be used to illustrate the featuresof more than one embodiment of the invention, and not all elements inthe figure may be required for a given embodiment.

FIG. 1 is a pictorial view of one embodiment of a surgical roboticsystem in an operating arena.

FIG. 2 is a top plan view of an embodiment of a foot pedal assembly.

FIG. 3 is a top plan view of an embodiment of a foot pedal assembly.

FIG. 4 is a top plan view of an embodiment of a foot pedal assembly.

FIG. 5 is a side perspective view of an embodiment of a foot pedalassembly.

FIG. 6 is a cross-sectional side view of an embodiment of a foot pedalassembly.

FIG. 7 is a side view of an embodiment of a foot pedal assembly.

FIG. 8 is a side perspective view of an embodiment of a foot pedalassembly.

FIG. 9 is a top plan view of an embodiment of a foot pedal system.

FIG. 10 is a top plan view of an embodiment of a foot pedal system.

FIG. 11 is a top plan view of an embodiment of a foot pedal system.

FIG. 12 is a top plan view of the foot pedal system of FIG. 11 with thefoot pedal assembly repositioned.

FIG. 13 is a perspective view of an embodiment of a foot pedal system.

FIG. 14 is a flow chart of one embodiment of a process for repositioningand activating a foot pedal system.

FIG. 15 is a connection diagram schematically depicting exemplarycommunication between a foot pedal system, a processor/controller, and arobotic surgical system.

DETAILED DESCRIPTION

Several embodiments of the invention with reference to the appendeddrawings are now explained. Whenever the shapes, relative positions andother aspects of the parts described in the embodiments are notexplicitly defined, the scope of the invention is not limited only tothe parts shown, which are meant merely for the purpose of illustration.Also, while numerous details are set forth, it is understood that someembodiments of the invention may be practiced without these details. Inother instances, well-known circuits, structures, and techniques havenot been shown in detail so as not to obscure the understanding of thisdescription.

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting of the invention.Spatially relative terms, such as “beneath”, “below”, “lower”, “above”,“upper”, and the like may be used herein for ease of description todescribe one element's or feature's relationship to another element(s)or feature(s) as illustrated in the figures. It will be understood thatthe spatially relative terms are intended to encompass differentorientations of the device in use or operation in addition to theorientation depicted in the figures. For example, if the device in thefigures is turned over, elements described as “below” or “beneath” otherelements or features would then be oriented “above” the other elementsor features. Thus, the exemplary term “below” can encompass both anorientation of above and below. The device may be otherwise oriented(e.g., rotated 90 degrees or at other orientations) and the spatiallyrelative descriptors used herein interpreted accordingly.

As used herein, the singular forms “a”, “an”, and “the” are intended toinclude the plural forms as well, unless the context indicatesotherwise. It will be further understood that the terms “comprises”and/or “comprising” specify the presence of stated features, steps,operations, elements, and/or components, but do not preclude thepresence or addition of one or more other features, steps, operations,elements, components, and/or groups thereof.

The terms “or” and “and/or” as used herein are to be interpreted asinclusive or meaning any one or any combination. Therefore, “A, B or C”or “A, B and/or C” mean “any of the following: A; B; C; A and B; A andC; B and C; A, B and C.” An exception to this definition will occur onlywhen a combination of elements, functions, steps or acts are in some wayinherently mutually exclusive. In addition, the term “and” as usedherein in reference to different operations being performed by the samesystem or assembly, should be interpreted to mean the operations canboth be performed by the system or assembly, but does not require theoperations be performed at the same time. For example, a system orassembly that performs operations “A and B” can perform them atdifferent times (e.g., sequentially), or at the same time.

In addition, the phrase “configured to,” as used herein, may beinterchangeable with, or otherwise understood as referring to, forexample, a device that is “suitable for”, “having the capacity to”,“designed to”, “adapted to”, “made to”, or otherwise “capable of”operating together with another device or other components. For example,a “processor configured to perform A, B, and C” may refer to a processor(e.g., a central processing unit (CPU) or an application processor) thatmay perform operations A, B and C by executing one or more softwareprograms which stores a dedicated processor (e.g., an embeddedprocessor) for performing a corresponding operation.

Referring to FIG. 1, FIG. 1 illustrates a pictorial view of an examplesurgical robotic system 100 in an operating arena. The surgical roboticsystem 100 includes a user console 102, a control tower 103, and one ormore surgical robotic arms 104 at a surgical platform 105, e.g., atable, a bed, etc. The surgical robotic system 100 can incorporate anynumber of devices, tools, or accessories used to perform surgery on apatient 106. For example, the surgical robotic system 100 may includeone or more surgical tools 107 used to perform surgery. A surgical tool107 may be an end effector that is attached to a distal end of asurgical arm 104, for executing a surgical procedure.

Each surgical tool 107 may be manipulated manually, robotically, orboth, during the surgery. For example, the surgical tool 107 may be atool used to enter, view, or manipulate an internal anatomy of thepatient 106. In an embodiment, the surgical tool 107 is a grasper thatcan grasp tissue of the patient. The surgical tool 107 may be controlledmanually, by a bedside operator 108; or it may be controlledrobotically, via actuated movement of the surgical robotic arm 104 towhich it is attached. The surgical robotic arms 104 are shown as atable-mounted system, but in other configurations the surgical arms 104may be mounted in a cart, ceiling or sidewall, or in another suitablestructural support.

Generally, a remote operator 109, such as a surgeon or other operator,may use the user console 102 to remotely manipulate the surgical arms104 and/or the attached surgical tools 107, e.g., teleoperation. Theuser console 102 may be located in the same operating room as the restof the surgical robotic system 100, as shown in FIG. 1. In otherenvironments however, the user console 102 may be located in an adjacentor nearby room, or it may be at a remote location, e.g., in a differentbuilding, city, or country. The user console 102 may comprise a seat110, foot-operated controls 113, one or more handheld user interfacedevices, UID 114, and at least one user display 115 that is configuredto display, for example, a view of the surgical site inside the patient106. In the example user console 102, the remote operator 109 is sittingin the seat 110 and viewing the user display 115 while manipulating afoot-operated control 113 and a handheld UID 114 in order to remotelycontrol the surgical arms 104 and the surgical tools 107 (that aremounted on the distal ends of the surgical arms.)

In some variations, the bedside operator 108 may also operate thesurgical robotic system 100 in an “over the bed” mode, in which thebeside operator 108 (user) is now at a side of the patient 106 and issimultaneously manipulating a robotically-driven tool (end effector asattached to the surgical arm 104), e.g., with a handheld UID 114 held inone hand, and a manual laparoscopic tool. For example, the bedsideoperator's left hand may be manipulating the handheld UID 114 to controla surgical robotic component, while the bedside operator's right handmay be manipulating a manual laparoscopic tool. Thus, in thesevariations, the bedside operator 108 may perform both robotic-assistedminimally invasive surgery and manual laparoscopic surgery on thepatient 106.

During an example procedure (surgery), the patient 106 is prepped anddraped in a sterile fashion to achieve anesthesia. Initial access to thesurgical site may be performed manually while the arms of the surgicalrobotic system 100 are in a stowed configuration or withdrawnconfiguration (to facilitate access to the surgical site.) Once accessis completed, initial positioning or preparation of the surgical roboticsystem 100 including its arms 104 may be performed. Next, the surgeryproceeds with the remote operator 109 at the user console 102 utilizingthe foot-operated controls 113 and the UIDs 114 to manipulate thevarious end effectors and perhaps an imaging system to perform thesurgery. Manual assistance may also be provided at the procedure bed ortable, by sterile-gowned bedside personnel, e.g., the bedside operator108 who may perform tasks such as retracting tissues, performing manualrepositioning, and tool exchange upon one or more of the surgical arms104. Non-sterile personnel may also be present to assist the remoteoperator 109 at the user console 102. When the procedure or surgery iscompleted, the surgical robotic system 100 and the user console 102 maybe configured or set in a state to facilitate post-operative proceduressuch as cleaning or sterilization and healthcare record entry orprintout via the user console 102.

In one embodiment, the remote operator 109 holds and moves the UID 114to provide an input command to move a robot arm actuator 117 in thesurgical robotic system 100. The UID 114 may be communicatively coupledto the rest of the surgical robotic system 100, e.g., via a consolecomputer system 116. The UID 114 can generate spatial state signalscorresponding to movement of the UID 114, e.g. position and orientationof the handheld housing of the UID, and the spatial state signals may beinput signals to control a motion of the robot arm actuator 117. Thesurgical robotic system 100 may use control signals derived from thespatial state signals, to control proportional motion of the actuator117. In one embodiment, a console processor of the console computersystem 116 receives the spatial state signals and generates thecorresponding control signals. Based on these control signals, whichcontrol how the actuator 117 is energized to move a segment of the arm104, the movement of a corresponding surgical tool that is attached tothe arm may mimic the movement of the UID 114. Similarly, interactionbetween the remote operator 109 and the UID 114 can generate for examplea grip control signal that causes a jaw of a grasper of the surgicaltool 107 to close and grip the tissue of patient 106.

Surgical robotic system 100 may include several UIDs 114, whererespective control signals are generated for each UID that control theactuators and the surgical tool (end effector) of a respective arm 104.For example, the remote operator 109 may move a first UID 114 to controlthe motion of an actuator 117 that is in a left robotic arm, where theactuator responds by moving linkages, gears, etc., in that arm 104.Similarly, movement of a second UID 114 by the remote operator 109controls the motion of another actuator 117, which in turn moves otherlinkages, gears, etc., of the surgical robotic system 100. The surgicalrobotic system 100 may include a right surgical arm 104 that is securedto the bed or table to the right side of the patient, and a leftsurgical arm 104 that is at the left side of the patient. An actuator117 may include one or more motors that are controlled so that theydrive the rotation of a joint of the surgical arm 104, to for examplechange, relative to the patient, an orientation of an endoscope or agrasper of the surgical tool 107 that is attached to that arm. Motion ofseveral actuators 117 in the same arm 104 can be controlled by thespatial state signals generated from a particular UID 114. The UIDs 114can also control motion of respective surgical tool graspers. Forexample, each UID 114 can generate a respective grip signal to controlmotion of an actuator, e.g., a linear actuator, that opens or closesjaws of the grasper at a distal end of surgical tool 107 to grip tissuewithin patient 106.

In some aspects, the communication between the surgical platform 105 andthe user console 102 may be through a control tower 103, which maytranslate user commands that are received from the user console 102 (andmore particularly from the console computer system 116) into roboticcontrol commands that are transmitted to the arms 104 on the surgicalplatform 105. The control tower 103 may also transmit status andfeedback from the surgical platform 105 back to the user console 102.The communication connections between the surgical platform 105, theuser console 102, and the control tower 103 may be via wired and/orwireless links, using any suitable ones of a variety of datacommunication protocols. Any wired connections may be optionally builtinto the floor and/or walls or ceiling of the operating room. Thesurgical robotic system 100 may provide video output to one or moredisplays, including displays within the operating room as well as remotedisplays that are accessible via the Internet or other networks. Thevideo output or feed may also be encrypted to ensure privacy and all orportions of the video output may be saved to a server or electronichealthcare record system.

A foot-operated control including a foot pedal assembly or system thatcan slide between activation positions and/or be repositioned to adesired location and/or orientation will now be described. Referring nowto FIG. 2, FIG. 2 illustrates a top plan view of one embodiment of afoot pedal assembly 200 that can be used to control, or otherwiseactuate, a surgical robotic operation of the surgical robotic system 100(e.g., an operation of the surgical robotic arm 104). Foot pedalassembly 200 may include a foot pedal platform 202, a foot pedal base206 and a foot pedal 208. The foot pedal platform 202 may include acontact surface 204, which the foot pedal base 206 contacts and ismovably coupled to. The foot pedal 208 may be movably coupled to thefoot pedal base 206. The term “foot pedal” is generally intended torefer to any type of foot-operated lever that can be used to control therobotic operation. The foot pedal base 206 may be any type of structuresuitable for supporting the pedal. The foot pedal platform 202 may beany type of structuring having a surface (e.g., planar contact surface204) across which the base 206 can move or slide. In addition, it shouldbe understood that while a “foot pedal” and “foot pedal base” and “footpedal platform” are described and shown herein in the context of a foot,the pedal, base and platform should be understood to cover any sort oflever and support member assembly that can be used in a similar mannerby any body part, machine, robotic assembly, or the like to actuate orotherwise control a surgical robotic operation (or other operationsrequiring a pedal and base assembly). In some cases, the foot pedal 208may be considered pivotally or rotatably coupled to the foot pedal base206. In other cases, the foot pedal 208 may be, for example, a floatingpedal that remains relatively parallel to the base 206, and moves up anddown. FIG. 2 is intended to illustrate an embodiment where the footpedal 208 is pivotally or rotatably coupled to the foot pedal base 206.Representatively, foot pedal 208 and/or foot pedal base 206 include anaxle, pivot point, or axis of rotation, around which foot pedal 208rotates or pivots as will be described in more detail in reference toFIG. 7.

In addition, foot pedal base 206 may move relative to foot pedalplatform 202 between an arrangement of activation positions 210A, 210B,210C, 210D and 210E on foot pedal platform 202. The activation positions210A-210E correspond to different surgical robotic functions, operationsor tasks (e.g., energy or non-energy functions, operations or tasks)that can be controlled by foot pedal assembly 200 when it is activated(e.g., pressed). Representatively, foot pedal base 206 may translatealong at least two axes, for example, an x-axis and a y-axis to and/orbetween the activation positions 210A-210E. For example, foot pedal base206 may slide across the contact surface 204 of foot pedal platform 202in the directions illustrated by arrows 212 and 214 from one activationposition (e.g., activation position 210E) to another activation position(e.g., activation positions 210A-210D). In addition, in some cases, footpedal base 206 may pivot or rotate relative to foot pedal platform 202around pivot point 216 (or a z-axis), as illustrated by arrow 218. Inthis aspect, the foot pedal base 206 (and foot pedal 208) is consideredoperable to both translate and rotate (e.g., sequentially orsimultaneously) relative to foot pedal platform 202, between activationpositions 210A-210E. In addition, since the single pedal assembly canmove (e.g., slide) between activation positions 210A-210E and beactivated at the different positions, the user can control four or moredistinct robotic operations without having to move there foot betweendifferent pedals.

Representatively, FIG. 3 and FIG. 4 are top plan views of the foot pedalassembly 200 translated and rotated, respectively, relative to footpedal assembly platform 202, to the different activation positions210A-210E. Representatively, FIG. 3 illustrates an embodiment in whichactivation positions 210A-210D are located near the four corners of footpedal base 206, and the fifth activation position 210E is near thecenter of foot pedal base 206. As previously discussed, each ofactivation positions 210A-210E may be correlatable to different surgicalrobotic operations. For example, the activation positions 210A and 210Balong the right side of foot pedal platform 202 may be correlatable tosurgical robotic operations, functions or tasks which, in a typicalpedal assembly, are controlled by two different pedals along a rightside of a pedal bank (e.g., activate energy or advanced tools such aslasers, staplers, etc.). Similarly, activation positions 210C and 210Dalong the left side of foot pedal platform 202 may be correlatable tosurgical robotic operations typically controlled by two different pedalsalong a left side of a pedal bank (e.g., cameras). The activationposition 210E may be correlatable to a fifth surgical robotic operation(e.g., a clutch function). During operation, foot pedal 208 and footpedal base 206 may be, in one embodiment, initially at a center positionover activation position 210E, and then translated as illustrated byarrows T₁ and/or T₂ to activation positions 210A-210D. The differentfoot pedal 208 and foot pedal base 206 positions are illustrated bydashed lines. The activation positions 210A-210E may be, or otherwiseinclude, sensors that detect the presence of the foot pedal base 208 atthe position. When the foot pedal 208 is then activated at the position(e.g., rotated or pivoted with respect to base 206) a signal mapping theposition to the desired operation or function is sent to a processor orcontroller to control the desired surgical robotic operation. Thesensors may be any type of position sensor capable of being connectedto, or otherwise positioned on, the foot pedal platform 202 anddetecting a presence of a foot pedal base 206. For example, the sensormay be a proximity sensor, a pressure sensor, a capacitive sensor, orthe like.

In addition, it should be understood that while the activation positions210A-210E are shown confined to the corners of foot pedal platform 202,they may extend across a much larger region of the foot pedal platform202 such that foot pedal base 206 does not have to be moved all the wayto a corner of foot pedal assembly platform 202 to control thecorresponding surgical robotic operation. For example, the contactsurface 204 of foot pedal platform 202 may be divided into four or fiveequal parts, and each of the activation positions 210A-210D may extendacross an entire part such that foot pedal platform 206 need onlyoverlap a portion of the position to be at the activation position andcontrol the desired robotic operation. In any case, regardless of thesize of the activation position, it should be understood that thearrangement of activation positions 210A-210E allows for the user toactivate four or more distinct robotic functions using a single pedalassembly.

As previously discussed, the foot pedal 208 in combination with footpedal base 206 may also rotate or pivot relative to foot pedal platform202. The various rotated or pivoted positions are illustrated by FIG. 4.Representatively, foot pedal 208 and foot pedal base 206 can pivot orrotate about point 216 (e.g., a z-axis) as illustrated by arrow 218, toa position to the right of center or the left of center as illustratedby arrow 220. In some cases, pedal 208 and foot pedal base 206 mayrotate or pivot from the center position (e.g., activation position210E) to the different activation positions 210A-210D, withouttranslation, to control a desired operation or function. In other cases,foot pedal 208 and foot pedal base 206 may both translate and rotate (orpivot), for example, translate to one activation position as shown inFIG. 3 (e.g., activation position 210A), and then rotate from thatposition to another adjacent activation position (e.g., activationposition 210D) to control another operation or function. In stillfurther cases, the rotation may be a more passive rotation used toachieve a more comfortable pedal orientation for the user (e.g., toangle the pedal) while at the desired activation position, withoutactivating another position.

The foot pedal assembly 200 may further include a “snap to” or lockingassembly which locks, or otherwise snaps, holds or secures, the footpedal base 206 at the desired activation position 210A-210E. FIG. 5illustrates one embodiment of a locking assembly 500 of the foot pedalassembly 200. Representatively, locking assembly 500 may include anarrangement or assembly of platform magnets 502A, 502B, 502C, 502D and502E connected, or otherwise attached to, foot pedal platform 202 nearthe activation positions 210A-210E. For example, platform magnets502A-502E may be attached to pedal platform 202 near each of the cornersand at the center. For example, attached to a protrusion, or othersurface, of platform 202, such as by an adhesive or mechanicalattachment mechanism as discussed in more detail with respect FIG. 8. Inaddition, locking assembly 500 may include an arrangement or assembly ofcomplimentary pedal base magnets 504A, 504B, 504C, 504D and 504E nearcorners and a center of base 206, which interface with the corners andcenter of pedal platform 202. For example base magnets 504A-504E may beattached a protrusion, or other surface, of pedal platform 202, such asby an adhesive or mechanical attachment mechanism as discussed in moredetail with respect FIG. 8. Platform magnets 502A-502E and base magnets504A-504E may, for example, be permanent magnets that are arranged tohave opposite poles interfacing one another. In this aspect, when pedalbase 206 is moved to one of activation positions 210A-210E, one of thecorresponding platform magnets 502A-502E is positioned near acomplimentary one of base magnets 504A-504E. The magnets 502A-502E and504A-504E, in turn, attract one another and “snap” (or otherwise secure)pedal base 206 to foot pedal platform 202 at the desired position, usinga magnetic force. The attachment of pedal base 206 to pedal platform 202using locking assembly 500 is illustrated by FIG. 6. Representatively,one of platform magnets 502A-502E, namely platform magnet 502A and oneof platform magnets 504A-504E, namely base magnet 504A, are shownattached to one another in FIG. 6.

FIG. 7 is a side view of further aspects of foot pedal assembly 200.From this view, the rotation or pivoting motion of foot pedal 208relative to foot pedal base 202 can be more clearly seen.Representatively, FIG. 7 shows the pivoting (or rotation) of foot pedal208 around axle 702, as shown by arrow 704. For example, foot pedal 208moves from a “neutral” position in which it is at an angle with respectto foot pedal base 206, to an “active” position in which the distal end224 of foot pedal 208 is closer to foot pedal base 206 (as illustratedby dashed lines). Representatively, foot pedal 208 may be considered tobe in a “neutral” position when it is not causing, actuating, orotherwise controlling, a robotic operation (e.g. an operation of thesurgical robotic arm 104). On the other hand, foot pedal 208 may beconsidered to be in an “active” position when it is closer to foot pedalbase 206, because in this position, foot pedal 202 is causing,actuating, or otherwise controlling, a robotic operation (e.g., anoperation of the surgical robotic arm 104). For example, in the morehorizontal position (as illustrated by the dashed line) foot pedal 208may contact switch 708, which, in turn, sends a signal to a controlsystem (e.g., a console processor of the console computer system 116) toactuate, or otherwise control, the robotic operation. In this aspect,foot pedal 208 may be referred to herein as being “active”, “activated”or “actuated” when in the more horizontal position (e.g., a positionachieved when a user's foot presses on the pedal), and “neutral” or“inactive” when in the angled position (e.g., the resting position priorto the user's foot contacting the pedal). In addition, it should beunderstood that while a single switch 708 and/or activation features isdescribed, it is contemplated that foot pedal assembly 200 may havemultiple switches, mechanical detents, nonlinear force profiles, orother similar features, which provide for multi-stage activationcapabilities.

Referring now in more detail to foot pedal 208, foot pedal 208 mayinclude a proximal portion or end 222 and a distal portion or end 224.During operation, the proximal portion 222 will be near the heel of thefoot 706, and the distal portion 224 will be farther from the heel(e.g., closer to the toe). The foot pedal 208 may include asubstantially flat or planar surface that, in the neutral pedalposition, may be angled, and face away from, pedal base 206. On theother hand, in the active pedal position (e.g., when a user's footcontacts foot pedal 208), the surface may be rotated such that it issubstantially parallel to, or the distal end 224 is otherwise closer to,base portion 206. For example, foot pedal 208 may be manually moved(e.g., rotate, pivot, move up/down) with respect to foot pedal base 206when a force or pressure is applied the pedal surface as illustrated byarrow 710.

In some embodiments, an active feedback mechanism may further beincluded in the assembly 200 to provide an indication to the user of thepedal position. For example, the active feedback mechanism could be amotorized actuator or sensor which is part of, or otherwise incorporatedinto, switch 708. The feedback mechanism may output a haptic response tothe user (e.g., vibration) when the foot pedal 208 contacts switch 708.Alternatively, or additionally, the active feedback mechanism could beincorporated anywhere within foot pedal assembly 200 and used to outputa response to the user to indicate other operations relating to footpedal assembly 200. For example, the feedback mechanism could beintegrated into, or positioned near, the activation positions 210A-210E(e.g., part of the corresponding sensors) or magnet assemblies 502A-502Eor 504A-504E to indicate to the user when the foot pedal base 206 (andfoot pedal 208) is nearing, or otherwise aligned with, activationpositions 210A-210E.

In addition, in this embodiment, axle 702 is positioned at the proximalend 222, or at least closer to the proximal end 222 than the distal end224, of foot pedal 208 (and foot pedal base 206). In this aspect, theuser rocks their foot forward and presses their toe against foot pedal208, as opposed to the heel, to pivot or rotate foot pedal 208 to theactivated position. In addition, since pressing on the heel does notpivot (or rotate) foot pedal 208 about axle 702, or otherwise activatethe pedal assembly, the user's heel can be used to translate (e.g.,slide) foot pedal base 206 relative to foot pedal platform 202, asillustrated by arrow 712 without the risk of unintentional activation.For example, the user can press the heel of their foot 706 against theproximal end 222 of foot pedal 208 (while their toes rest on the distalend 224) to apply a force in a direction of arrow 712 and translate thefoot pedal base 206 along the y-axis as shown (or the x-axis).

In addition, the user's heel can be used to rotate (or pivot) pedal 208(and pedal base 206) around pivot point 216 (or z-axis) without the riskof unintentional activation. For example, while the heel is resting onthe proximal end 222 of foot pedal 208, the user can rotate (or pivot)their heel clockwise or counterclockwise. This, in turn, rotates (orpivots) foot pedal 208 around the pivot point or axis 216 (z-axis), andin turn the distal end 224 to the right or left of center. In somecases, this rotation of foot pedal 208 may be used to achieve a moredesirable ergonomic position. In other cases, it may be used toreposition foot pedal 208 to an activation position and control asurgical robotic operation. In addition, it should be recognized that inother embodiments, instead of rotation of the entire foot pedal 208 andfoot pedal base 206 relative to foot pedal platform 202 as illustrated,this heel rotation functionality may be achieved with a rotating footpanel.

FIG. 8 is a side perspective view of an embodiment of a foot pedalassembly. Representatively, FIG. 8 illustrates foot pedal assembly 200having foot pedal platform 202, foot pedal base 206 and foot pedal 208.From this view, it can be seen that the platform magnets 502A, 502B aresecured to protrusions 802A, 802B, respectively, extending from asurface of foot pedal platform 202. In addition, base magnets 504A, 504Bare secured to protrusions 804A, 804B, respectively, extending from asurface of foot pedal base 206. The protrusions 802A, 802B andprotrusions 804A, 804B align with one another when the foot pedal base206 is positioned near one of the corresponding corners of foot pedalplatform 202. This, in turn, aligns one of the platform magnets502A-502B with one of the base magnets 504A-504B, to thereby “snap” (orhold) the pedal assembly at the desired activation position. In oneembodiment, the platform magnets 502A-502B are attached to exteriorsurfaces of protrusions 802A-802B, and the base magnets 504A-504B areattached to interior surfaces of protrusions 804A-804B. In this aspect,in the locked or “snapped” position shown, protrusions 802A-802B,804A-804B are between magnets 502A-502B, 504A-504B, respectively. Inother cases, magnets 502A-502B, 504A-504B may be attached to any surfaceof the protrusions 802A-802B, 804A-804B, foot pedal platform 202, orfoot pedal base 206 which allows for sufficient magnetic force betweenmagnets to hold and/or release foot pedal base 206 at the activationposition. Although not shown in this view, the remaining platformmagnets 502C-502E and base magnets 504C-504E may be secured to similarprotrusions at the remaining corners of foot pedal platform 202 andpedal base 206, respectively.

FIG. 9-FIG. 12 illustrate embodiments of a selectively locking,repositionable foot pedal system. Representatively, foot pedal system900 is configured to allow the user to reposition a foot pedal assembly(e.g., pedal assembly 200), and in some cases one foot pedal assemblyper foot, to a desired location and orientation, and then lock it inplace as desired. In this aspect, the user can keep their feet on arespective foot pedal assembly (eliminating the need to locate pedalswhen activation is desired) while also enabling them to change thatlocation throughout a procedure or task. This, in turn, addresses theergonomic need of a user to reposition their feet occasionally during aprocedure while seated.

Referring now in more detail to the foot pedal system 900, foot pedalsystem 900 includes a foot pedal assembly platform 902 and foot pedalassemblies 904, 906. In some embodiments, foot pedal assembly platform902 may be a structure that is part of the user console (e.g. userconsole 102) and has a substantially planar surface 902A on one side forsupporting the foot pedal assemblies 904, 906. In other embodiments,foot pedal assembly platform 902 and surface 902A may be formed by thesurgical room floor itself, for example, where the pedal assemblies aredetached from the user console. Foot pedal assemblies 904, 906 may bemovably (e.g., slidably), positioned on surface 902A of the foot pedalassembly platform 902 and moved with respect to foot pedal assemblyplatform 902 to any platform or ergonomic position that meets the user'sergonomic needs. Representatively, foot pedal assembly 904 (and/or footpedal assembly 906) may be translated (e.g., slide) across surface 902A,as illustrated by arrows 908 and 910. For example, foot pedal assembly904 may move from a first platform position (e.g., center position 916A)to a second platform position (e.g., right position 916B), or from oneposition to any number of other positions (e.g., positions 916C-916E).Similarly, although not shown, foot pedal assembly 906 may also betranslated in the direction of arrows 908 and 910, similar to foot pedalassembly 904. It should further be understood that arrows 908 and 910represent directions parallel to a y-axis and an x-axis, respectively,which are parallel to surface 902A. Foot pedal assemblies 904, 906 mayalso therefore be considered to translate along a y-axis and an x-axisto the desired positions. It should be understood, however, that themovement of foot pedal assemblies 904, 906 is not limited to the x-axisand/or y-axis, or directions parallel to these axes, rather the movementcould be in any direction (e.g., diagonal) parallel to surface 902A.

In addition, foot pedal assembly 904 (and/or foot pedal assembly 906)may also be rotated around an axis or point 912. Representatively, 912may represent an axis that is perpendicular (or normal) to the y-axisand x-axis as previously discussed. In other words, 912 may be a z-axis,and foot pedal assembly 904 (and/or foot pedal assembly 906) may rotatearound the z-axis as illustrated by arrow 914 to different desiredergonomic positions 916F and 916G, as illustrated by FIG. 10. It shouldbe understood that foot pedal assembly 904 (and/or foot pedal assembly906) may be rotated while at the center position 916A as shown, however,may also be rotated at any of the different positions 916B-916Epreviously discussed in reference to FIG. 9. In this aspect, foot pedalassembly 904 and foot pedal assembly 906 may be repositioned to anunlimited number of ergonomic positions as desired by the user.

Once at the desired ergonomic position (e.g., any one of ergonomicpositions 916A-916G), foot pedal assembly 904 (and/or foot pedalassembly 906) may be locked, or otherwise secured, in place.Representatively, foot pedal assembly system 900 may further include alocking assembly that holds foot pedal assembly 904 (and/or foot pedalassembly 906) in the desired position. Representatively, the lockingassembly may include a first locking member 918 and a second lockingmember 920 or 922. In one embodiment, the locking assembly is anelectromagnetic locking assembly. In this case, the first locking member918 is a ferromagnetic plate and the second locking member 920 or 922 isan electromagnet attached to the foot pedal assembly 904 or foot pedalassembly 906, respectively. The ferromagnetic plate may be coupled to,or form, the surface 902A of the foot pedal assembly platform 902. Inone embodiment, the electromagnet of the second locking member 920 (ormember 922) may be embedded within foot pedal assembly 904 (or assembly906). During operation, the electromagnets of the second locking members920 (and 922) may be transitioned between an “off” or “disengaged” modein which no magnetic field is generated, and an “on” or “engaged” modein which a magnetic field is generated. In the “off” or “disengaged”mode shown in FIG. 11, there is no magnetic field holding the foot pedalassembly 904 (and/or foot pedal assembly 906) to platform 902, andtherefore the user can reposition or move (translate or rotate) the footpedal assembly 904 (and/or foot pedal assembly 906) to any desiredposition as illustrated by arrows. Once in the desired position, thelocking assembly can be transitioned to the “on” or “engaged” mode,which essentially turns “on” the electromagnets (e.g., members 920, 922)causing them to generate a magnetic field and lock, or otherwise engage,the associated foot pedal assembly 904 (or 906) to the ferromagneticplate of surface 902A using a magnetic force. The electromagnets ofmembers 920, 922 may be activated by the user by a foot action (e.g.,lifting the foot and pressing a button) or by a hand action (e.g., usinga handheld controller having a wired or wireless connection to the footpedal assembly). For example, there may be a selection on a surgeonbridge touch pad or in a graphical user interface, and the user uses theuser input devices (UIDs) and pedals to navigate to and select thedesired mode (to engage or disengage the electromagnet.

In other embodiments, the locking assembly may be an assembly that usesan electrostatic, suction, mechanical or any other force sufficient toengage and disengage the foot pedal assembly 904 with the foot pedalassembly platform 902. These alternative locking mechanisms could beparticularly useful in embodiments where foot pedal assembly 904 (and/orfoot pedal assembly 906) is detached from the user console and operatedwirelessly from any location within the surgical room. For example, inone embodiment, the foot pedal assembly 904 (and/or foot pedal assembly906) may be detached from the user console and wirelessly controlledfrom any location on the surgical room floor (e.g., near the operatingtable). Representatively, this configuration may be desirable in anover-the-bed laparoscopic operation. In this aspect, the surgical roomfloor may be the platform 902 that the pedal assembly 904 (and/or footpedal assembly 906) engages or disengages with. The pedal assembly 904(and/or foot pedal assembly 906) may have a suction mechanism integratedtherein which. When activated, the suction mechanism may create a lowpressure region between pedal assembly 904 and the floor (e.g., surface902A) that secures the foot pedal assembly 904 (and/or foot pedalassembly 906) to the floor, and when de-activated, the pressureequalizes allowing foot pedal assembly 904 (and/or foot pedal assembly906) to be repositioned.

In some cases, one or both of foot pedal assemblies 904, 906 may be footpedal assembly 200 previously discussed in reference to FIG. 2-FIG. 10.As previously discussed, foot pedal assembly 200 is operable to be moved(e.g., rotated and translated) between activation positions (e.g.,activation positions 210A-210E), and further pivoted to an activeposition to control a robotic operation. In addition, foot pedalassembly 200 is operable to be repositioned (e.g., rotated andtranslated) along foot pedal assembly platform 902 to achieve a desiredergonomic or platform position, as previously discussed in reference toassembly 904. Foot pedal assembly 200 (i.e., assemblies 902 and 904)therefore provides a single foot pedal assembly having several degreesof freedom that allow for repositioning between different activationpositions and ergonomic positions, and control of different roboticfunctions, without the user having to lift their foot, or move theirfoot between different pedals.

Representatively, as illustrated in FIG. 13, foot pedal assembly 904 (orassembly 906) may be foot pedal assembly 200, including foot pedalplatform 202, foot pedal base 206 and foot pedal 208. As previouslydiscussed, foot pedal base 206 can translate (e.g., along the x-axis andthe y-axis) and rotate or pivot (e.g., along the z-axis 216), relativeto foot pedal platform 202, to a desired activation position (e.g.,positions 210A-210E). In addition, foot pedal 208 can rotate or pivot(e.g., along the pivot point or axis 702) relative to foot pedal base206 between neutral and active positions (once at the desired activationposition) to control a robotic operation or function. Still further,foot pedal platform 202 can translate along surface 902A of foot pedalassembly platform 902 (e.g., along an x-axis and a y-axis) and pivot orrotate around axis 912 (e.g., z-axis), relative to foot pedal assemblyplatform 902 (as shown by the arrows), to any ergonomic or platformposition desired by the user. In addition, foot pedal assembly 200 maybe locked, or otherwise secured, at the desired activation positionusing a first locking assembly (e.g., magnet assembly) and locked, orotherwise secured, to the foot pedal assembly platform 902 at thedesired platform or ergonomic position using a second locking assembly(e.g. electromagnet assembly). In addition, in some embodiments, thefoot pedal assembly 200 (and/or foot pedal assemblies 904, 906) may alsoinclude a thin, low-friction coating 930 applied to an interface withthe foot pedal assembly platform 902 to facilitate repositioning. Forexample, coating 930 may be a polytetrafluoroethylene (PTFE) coating,also known as Teflon®, graphite, or any other suitable low frictioncoating that can be applied to the desired interfacing.Representatively, in one embodiment, coating 930 may be applied to thesurface of foot pedal platform 202 that interfaces with surface 902A ofthe foot pedal assembly platform 902. In other embodiments, the thin,low-friction coating 930 may be formed on surface 902A, or interfacingsurfaces of both platform 202 and platform 902.

It should further be understood that while foot pedal assemblies 904,906 are described as corresponding to assembly 200, assemblies 904, 906may be any type of foot pedal assembly (e.g., a floating foot pedalassembly, a multifunctional pedal assembly, or the like) andrepositionable relative to a platform, as described herein.

FIG. 14 illustrates one embodiment of a process flow 1400 forrepositioning and activating a foot pedal system. Representatively, aspreviously discussed, repositioning may include repositioning a footpedal assembly (e.g., foot pedal assembly 200, 904 and/or 906) relativeto a foot pedal assembly platform (e.g., foot pedal assembly platform902) from a first position to a second position (block 1402). The firstposition and the second position could be anywhere on the foot pedalassembly platform. In other words, they are not predetermined, orotherwise predefined, or set positions. In addition, although a firstposition and a second position are mentioned, any number of positionsare possible. Once at the second position, the foot pedal assembly maybe locked to the foot pedal assembly platform (block 1404). The assemblymay be locked to the platform using any suitable locking mechanism, forexample, an electromagnetic mechanism, a suction mechanism, anelectrostatic mechanism, a mechanical mechanism, or the like. Process1400 may further include translating or rotating a foot pedal base ofthe foot pedal assembly (e.g., foot pedal base 206 of assembly 200)relative to a foot pedal platform of the assembly (e.g., foot pedalplatform 202 of assembly 200) from a first activation position to asecond activation position (block 1406). Once at the desired activationposition, the foot pedal base may be locked to the foot pedal platformat the second activation position (block 1408). To then control therobotic operation or function, the foot pedal can be moved (e.g., pivot)relative to the foot pedal base to an activation position (block 1410).This in turn, sends a control signal to a processor or controller, whichactuates the robotic operation or function mapped to the activationposition.

FIG. 15 is a connection diagram schematically depicting exemplarycommunication between a foot pedal assembly or system, aprocessor/controller, and a robotic surgical system. As shown in FIG.15, sensor signals from one or more foot pedal assemblies 1510 (e.g.,foot pedal assemblies 200, 904, 906) may be communicated to aprocessor/controller 1520. For example, signals from one or more sensors(1512A, 1512B, 1512C, 1512D, etc.) may indicate a translated and/orpivoted position of the foot pedal in a foot pedal assembly 1510. Thesesensor signals may be communicated (e.g., via a wired or wirelessconnection) to the processor/controller 1520. The processor/controller1520 may generate and communicate control signals (e.g. electricalsignals) to control portions of the surgical robotic system 1530. Forexample, the processor/controller 1520 may generate and communicatecontrol signals to control actuation of a user-selected surgicalinstrument (e.g., fire and energy pulse, actuate graspers, actuatecutters, control a camera, or activate any suitable surgical instrument1532A, 1532B, 1532C, 1532D, etc.), engage an instrument clutch mode(e.g., movement of a handheld user interface devices does not movesurgical instruments otherwise controlled by user interface devices),select or designate a subset of available robotic arms/instruments forpresent control, etc. Representatively, the sensors may be sensorsconfigured to detect translated and/or pivoted positions of the footpedal relative to the foot pedal base, translated and/or pivotedpositions of the foot pedal base relative to a foot pedal platform,translated and/or pivoted positions of the foot pedal assembly relativeto a foot pedal assembly platform, etc. The sensor signals indicating,for example, current placement of the foot pedal communicated toprocessor/controller 1520 may also be used to display a graphicalrepresentation on a display of the current foot pedal position, such asto inform the user of current position for spatial awareness of the footpedal, imminent actuation of the foot pedal to an “active” position, aposition of the foot pedal base relative to an actuation position, aposition of the foot pedal assembly relative to a foot pedal assemblyplatform, etc.

While certain embodiments have been described and shown in theaccompanying drawings, it is to be understood that such embodiments aremerely illustrative of and not restrictive on the broad invention, andthat the invention is not limited to the specific constructions andarrangements shown and described, since various other modifications mayoccur to those of ordinary skill in the art. For example, while theFigures illustrate pedal assemblies and systems for surgical operations,alternative applications may include any application having one or morepedal-actuated functions, which could benefit from the use of a singlepedal to control multiple functions, and that is repositionable.Examples include medical devices, aviation, aerospace equipment,aviation equipment, gaming, computer control, music creation, or thelike. The description is thus to be regarded as illustrative instead oflimiting.

What is claimed is:
 1. A foot pedal assembly for controlling a surgicalrobotic system, the foot pedal assembly comprising: a foot pedal base; afoot pedal pivotally coupled to the foot pedal base; and a foot pedalplatform having a planar contact surface upon which the foot pedal baseis positioned, the foot pedal base having a planar surface configured tocontact and move across the planar contact surface of the foot pedalplatform along a first axis and a second axis between an arrangement ofactivation positions along the planar contact surface, the first axisand the second axis being non-parallel to one another and parallel tothe planar contact surface of the foot pedal platform.
 2. The foot pedalassembly of claim 1 wherein the arrangement of activation positionscomprises at least four activation positions located at differentcorners of the planar contact surface.
 3. The foot pedal assembly ofclaim 1 wherein each of the activation positions are correlatable todifferent functions of the surgical robotic system.
 4. The foot pedalassembly of claim 1 wherein the planar surface of the foot pedal base isconfigured to slide across the planar contact surface of the foot pedalplatform along the first axis and the second axis.
 5. The foot pedalassembly of claim 1 wherein the first axis is an x-axis and the secondaxis is a y-axis, and the foot pedal base is further operable to rotatearound a z-axis relative to the foot pedal platform.
 6. The foot pedalassembly of claim 1 wherein the foot pedal is moved relative to the footpedal base at any activation position of the arrangement of activationpositions to control a corresponding function of the surgical roboticsystem.
 7. The foot pedal assembly of claim 1 wherein the foot pedalcomprises a proximal end that is positioned near a heel of a user and adistal end that is positioned near a toe of a user during operation, andthe foot pedal is pivotally coupled to an axle positioned closer to theproximal end than the distal end.
 8. The foot pedal assembly of claim 1further comprising a locking assembly operable to lock the foot pedalbase at an activation position of the arrangement of activationpositions, wherein the locking assembly comprises a first magnet coupledto the foot pedal platform and a second magnet coupled to the foot pedalbase.
 9. The foot pedal assembly of claim 1 further comprising an activefeedback mechanism, the active feedback mechanism operable to output ahaptic response to a user.
 10. A foot pedal system for controlling asurgical robotic system, the foot pedal system comprising: a foot pedalassembly operable to control a function of the surgical robotic system;a foot pedal assembly platform upon which the foot pedal assembly ispositioned, the foot pedal assembly operable to translate and rotatewith respect to the foot pedal assembly platform to any position alongthe foot pedal assembly platform and control the function of thesurgical robotic system at the any position; and a locking assemblyoperable to selectively engage or disengage the foot pedal assemblyplatform with the foot pedal assembly at the any position along the footpedal assembly platform.
 11. The foot pedal system of claim 10 whereinthe locking assembly comprises an electromagnet assembly operable toselectively engage or disengage the foot pedal assembly with the footpedal assembly platform, the electromagnet assembly comprising anelectromagnet coupled to the foot pedal assembly and a ferromagneticmaterial coupled to the foot pedal assembly platform.
 12. The foot pedalsystem of claim 10 wherein engaging the foot pedal assembly at the anyposition prevents movement of the foot pedal assembly with respect tothe foot pedal assembly platform until the foot pedal assembly isdisengaged.
 13. The foot pedal system of claim 10 wherein the foot pedalassembly is operable to translate along an x-axis and a y-axis, androtate around a z-axis, relative to the foot pedal assembly platform.14. The foot pedal system of claim 10 wherein the foot pedal assemblycomprises a foot pedal pivotally coupled to a foot pedal base and a footpedal platform upon which the foot pedal base is slidably coupled, andthe foot pedal platform is operable to translate and rotate along asurface of the foot pedal assembly platform to the any position.
 15. Thefoot pedal system of claim 10 wherein the foot pedal assembly is a firstfoot pedal assembly, the system further comprising a second foot pedalassembly operable to translate or rotate to any position along the footpedal assembly platform.
 16. The foot pedal system of claim 10 furthercomprising a friction reducing coating at an interface between the footpedal assembly and the foot pedal assembly platform.
 17. A foot pedalsystem for controlling a surgical robotic system, the foot pedal systemcomprising: a foot pedal assembly having a foot pedal base, a foot pedalpivotally coupled to the foot pedal base, and a foot pedal platform, thefoot pedal base operable to slide across the foot pedal platform alongan x-axis and a y-axis to an arrangement of activation positions; and afoot pedal assembly platform upon which the foot pedal platform of thefoot pedal assembly is positioned, the foot pedal platform operable totranslate and rotate with respect to the foot pedal assembly platform toany position along the foot pedal assembly platform, and the foot pedalplatform is operable to engage or disengage with the foot pedal assemblyplatform at the any position along the foot pedal assembly platform. 18.The foot pedal system of claim 17 wherein the foot pedal assembly isoperable to be repositioned from a first platform position on the footpedal assembly platform to a second platform position on the foot pedalassembly platform by a foot of a user, and the foot pedal base isoperable to be translated along the foot pedal platform from a firstactivation position of the arrangement of activation positions to asecond activation position of the arrangement of activation positionswhile the foot remains in contact with the foot pedal.
 19. The footpedal system of claim 17 wherein the foot pedal is operable to pivotaround an axle coupled to the foot pedal base, the foot pedal base isoperable to rotate with respect to the foot pedal platform around afirst axis normal to the axle, and the foot pedal platform is operableto rotate with respect to the foot pedal assembly platform around asecond axis normal to the axle.
 20. The foot pedal system of claim 17further comprising: a first locking assembly operable to lock the footpedal base to the foot pedal platform at an activation position of thearrangement of activation positions; and a second locking assemblyoperable to lock the foot pedal assembly to the foot pedal assemblyplatform at one of the any positions along the foot pedal assemblyplatform.